/*
 * ActionTurn.h
 *
 *  Created on: 09/giu/2011
 *      Author: lugas
 */

#ifndef ACTIONTURN_H_
#define ACTIONTURN_H_

#include "Aria.h"


class ActionTurn: public ArAction {
public:

	ActionTurn(double turnThreshold, double turnAmount);

	virtual ~ActionTurn(void) {
	}
	;

	virtual ArActionDesired *fire(ArActionDesired currentDesired);

	virtual void setRobot(ArRobot *robot);

	double angleRotate;

	int myTurning; // -1 == left, 1 == right, 0 == none
protected:

	ArRangeDevice *mySonar;

	ArActionDesired myDesired;

	double myTurnThreshold;

	double myTurnAmount;


};


#endif /* ACTIONTURN_H_ */
